CN106773668A - A kind of stable control method for time-varying delay bilateral teleoperation system - Google Patents
A kind of stable control method for time-varying delay bilateral teleoperation system Download PDFInfo
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Abstract
The present invention relates to a kind of stable control method for time-varying delay bilateral teleoperation system, the model of two main sides and the bilateral teleoperation system from end is initially set up；Then according to three channels are co-existed in, speed and force information are transferred to other side by each channel, ensure the stability of channel using wave variables method on each channel, so design channel stability controller；Latency prediction is estimated, the time-varying gain tried to achieve is input into two channel stability controllers with time-varying gain, realizes the stability contorting of time-varying delay remote control system.The method of the present invention is easily achieved and applies, and mainly can apply to the stability contorting of time-varying delay bilateral teleoperation system.Good robustness, the extreme value of the readily available Delay Variation rate of method that latency prediction is estimated are respectively provided with for linear remote control system and non-linear remote control system.
Description
Technical field
The invention belongs to remote operating control field, it is related to a kind of stability contorting side for time-varying delay bilateral teleoperation system
Method.
Background technology
Teleoperation plays in numerous areas such as robot for space, high accuracy assembling, operations and increasingly weighs
The role for wanting, but the introducing of time delay is inevitable outstanding problem.When operation circuit time delay is normal with the dynamic time of robot
When number compares larger, the metrical information (position and contact force) interacted between REMOTE MACHINE people and operating environment is delivered to operator
When just have larger time delay, the thinking of this delayed impact operator and judgement, prevent its from send in time effectively
Operational order so that the hydraulic performance decline of system, cause system unstable when serious.The attribute of time delay is time-varying and unknown,
So the research to the stable control method of time-varying delay remote control system becomes to become more and more important.
Compared with conventional disclosed patent,《A kind of fixed response time remote operating controls based on wave variables of CN201510793832.8-
Method processed》、《A kind of wave variables acquiring methods for becoming the double remote operating of dominant factor of CN201510551772.9-》、
《A kind of fixed response time remote operating control methods based on wave variables of CN201510793832.8-》、《CN201610323424.0- mono-
Plant the stable control method for the asymmetric double remote control system of time delay》Primarily directed to the remote operating system under the conditions of fixed response time
System proposes stable control method.But, most remote control systems are in the condition of time-varying delay.And patent
《A kind of method for designing of the double remote operating variable-structure controller of time-varying delays of CN201510243994.4-》For the situation of time-varying delay
Under the variable structure control method that proposes of double remote operating, and do not proposed for the bilateral teleoperation in the case of time-varying delay corresponding
Stable control method, therefore, this patent proposes a kind of stable control method for the bilateral teleoperation in the case of time-varying delay.
The content of the invention
The technical problem to be solved
In order to avoid the deficiencies in the prior art part, the present invention proposes a kind of for the steady of time-varying delay bilateral teleoperation system
Locking control method, solves the stability problem that the time-vary delay system in bilateral teleoperation system brings.
Technical scheme
A kind of stable control method for time-varying delay bilateral teleoperation system, it is characterised in that step is as follows：
Step 1, set up two main sides and from end kinetic model：
Two kinetic models of main side：
From the kinetic model at end：
From the controling power that side controller is produced：
Wherein, MmMain side quality is represented,Represent main side acceleration, fhRepresent that hand is applied to the power of main side, fmcRepresent from
End feeds back to the controling power of main side；MsRepresent from end quality,Represent from end acceleration, fscRepresent the control produced from side controller
Power processed, feRepresent that environment is applied to the power from end；B and K represent the differential parameter and scale parameter from side controller respectively；Table
Show that main side is transferred to the desired speed from end, xscRepresent that main side is transferred to the desired locations from end,WithMain side is represented respectively
With from the actual speed held, subscript m represents main side, and subscript s is represented from end；
Step 2, design channel stability controller：
Main side is extremely from the stability controller at end：
From the stability controller of end to main side：
Wherein：B is wave variables parameter, umT () represents main side before
To wave variables,The reverse wave variables of main side are represented,Represent the forward direction wave variables from end, vsT () is represented from the reverse of end
Wave variables,Represent the desired speed of the main side transmission received from end；
k1(t) and k2T () is time-varying gain, and meet following formula：
Step 3, calculating time-varying gain：
For continuous system：TakeWithMaximum conductWithThe value on the right, asks
Solve time-varying gain k1(t) and k2(t)；
For discrete system：UsingTry to achieveUsing
Try to achieveIn the hope ofWithAsWithThe value on the right, solution obtains time-varying gain k1
(t) and k2(t)；
Step 4：The time-varying gain tried to achieve with step 3 is input into two channel stability controllers of step 2, realizes time-varying delay
The stability contorting of remote control system.
Beneficial effect
A kind of stable control method for time-varying delay bilateral teleoperation system proposed by the present invention, initially sets up two masters
End and the model of the bilateral teleoperation system from end；Then according to three channels are co-existed in, each channel believes speed and power
Breath is transferred to other side, ensures the stability of channel using wave variables method on each channel, so design channel stabilization is controlled
Device processed；Latency prediction is estimated, the time-varying gain tried to achieve, be input into two channel stability controllers with time-varying gain, realize becoming
The stability contorting of time delay remote control system.
The method of the present invention is easily achieved and applies, and mainly can apply to the stabilization control of time-varying delay bilateral teleoperation system
System.Good robustness, the method that latency prediction is estimated are respectively provided with for linear remote control system and non-linear remote control system
The extreme value of readily available Delay Variation rate.
Brief description of the drawings
Fig. 1：Represent wave variables computational methods
Fig. 2：System block diagram is represented, the information transmission situation between main and slave terminal is specifically described
Specific embodiment
In conjunction with embodiment, accompanying drawing, the invention will be further described：
Embodiments of the invention technical scheme is：By model, the design channel stability contorting of setting up bilateral teleoperation system
Three parts such as device, latency prediction estimation constitute.The method specifically includes following steps：
1st, the model of bilateral teleoperation system is set up
2nd, channel stability controller is designed
3rd, latency prediction is estimated
The first step：Set up the model of bilateral teleoperation system
Set up two main sides and the kinetic model from end：
Two kinetic models of main side：
From the kinetic model at end：
Wherein, MmMain side quality is represented,Represent main side acceleration, fhRepresent that hand is applied to the power of main side, fmcRepresent from end
Feed back to the controling power of main side；MsRepresent from end quality,Represent from end acceleration, fscRepresent the control produced from side controller
Power, feRepresent that environment is applied to the power from end；B and K represent the differential parameter and scale parameter from side controller respectively；Represent
Main side is transferred to the desired speed from end, xscRepresent that main side is transferred to the desired locations from end,WithRespectively represent main side and
From the actual speed at end, subscript m represents main side, and subscript s is represented from end；
Second step：Design channel stability controller
Due to co-existing in three channels, speed and force information are transferred to other side by each channel, on each channel profit
Ensure the stability of channel with wave variables method.Comprise the following steps that：
For each channel, time domain variable is changed into wave variables and is transmitted by the design such as wave variables of Fig. 1.
Wherein, b is wave variables parameter, umT () represents the forward direction wave variables of main side,The reverse wave variables of main side are represented,Represent the forward direction wave variables from end, vsT () represents the reverse wave variables from end,Represent the main side transmission received from end
Desired speed；
The influence of time-vary delay system can be experienced during transmission due to wave variables, so being led to being reached by channel
End and the wave variables from end are modified, so as to ensure the passivity of system.Refer to Fig. 2
Wherein, k1(t) and k2T () is time-varying gain, and meet following formula：
3rd step：Latency prediction is estimated
When wave variables are propagated in the channel, according to following Time Delay Model：
us' (t)=um(t-T1(t)) (0-12)
v′m(t)=vs(t-T2(t)) (0-13)
For continuous system, takeWithMaximum as the value on the right of (0-10) inequality.
For discrete system, obtained using following formulaWithValue
Wherein：T is discrete system sampling time interval.
Compared with prior art, the present invention has the advantages that：
1st, it is respectively provided with good robustness for linear remote control system and non-linear remote control system
2nd, the extreme value of the readily available Delay Variation rate of method that latency prediction is estimated
Specific embodiment
The first step：Set up two main sides and the kinetic model from end：
Wherein：
In above formulaMs=0.5kg, K=3, B=20.Represent that main side is transferred to the desired speed from end,
xscRepresent that main side is transferred to the desired locations from end,WithThe actual speed of main and slave terminal is represented respectively, and subscript m represents main
End, subscript s is represented from end；
Second step：Design channel stability controller
Ensure the stability of channel using wave variables method on each channel.Comprise the following steps that：
Wherein, b=2.5 is wave variables parameter, umT () represents the forward direction wave variables of main side,Represent the backward-wave of main side
Variable,Represent the forward direction wave variables from end, vsT () represents the reverse wave variables from end,Represent the main side received from end
The desired speed of transmission；
OrderWithRepresented with following formula：
Wherein, k1(t) and k2T () is time-varying gain, and meet following formula：
3rd step：Latency prediction is estimated
For continuous system, takeWithMaximum as the value on the right of above formula.
For discrete system, obtained using following formulaWithValue
Wherein：T is discrete system sampling time interval, takes T=0.01s.
4th step：The time-varying gain tried to achieve with step 3 is input into two channel stability controllers of step 2, when realizing becoming
Prolong the stability contorting of remote control system.
Claims (1)
1. a kind of stable control method for time-varying delay bilateral teleoperation system, it is characterised in that step is as follows：
Step 1, set up two main sides and from end kinetic model：
Two kinetic models of main side：
From the kinetic model at end：
From the controling power that side controller is produced：
Wherein, MmMain side quality is represented,Represent main side acceleration, fhRepresent that hand is applied to the power of main side, fmcRepresent and fed back from end
To the controling power of main side；MsRepresent from end quality,Represent from end acceleration, fscRepresent the controling power produced from side controller, fe
Represent that environment is applied to the power from end；B and K represent the differential parameter and scale parameter from side controller respectively；Represent main side
It is transferred to the desired speed from end, xscRepresent that main side is transferred to the desired locations from end,WithMain and slave terminal is represented respectively
Actual speed, subscript m represents main side, and subscript s is represented from end；
Step 2, design channel stability controller：
Main side is extremely from the stability controller at end：
From the stability controller of end to main side：
Wherein：B is wave variables parameter, umT () represents the forward-wave of main side
Variable,The reverse wave variables of main side are represented,Represent the forward direction wave variables from end, vsT () represents and becomes from the backward-wave at end
Amount,Represent the desired speed of the main side transmission received from end；
k1(t) and k2T () is time-varying gain, and meet following formula：
Step 3, calculating time-varying gain：
For continuous system：TakeWithMaximum conductWithThe value on the right, solves
To time-varying gain k1(t) and k2(t)；
For discrete system：UsingTry to achieveUsingAsk
In the hope ofWithAsWithThe value on the right, solution obtains time-varying gain k1
(t) and k2(t)；
Step 4：The time-varying gain tried to achieve with step 3 is input into two channel stability controllers of step 2, realizes the distant behaviour of time-varying delay
Make the stability contorting of system.
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Cited By (12)
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| CN107577147A (en) * | 2017-09-08 | 2018-01-12 | 北京邮电大学 | A kind of bilateral PID control method of remote operating based on self-adapting Smith predictor |
| CN107991879A (en) * | 2017-12-21 | 2018-05-04 | 浙江大学 | A kind of remote operating bilateral control method for improving wave variables |
| CN108303880A (en) * | 2018-01-18 | 2018-07-20 | 西北工业大学 | A kind of teleoperation of robot forecast Control Algorithm based on delay compensation |
| CN108340369A (en) * | 2018-01-17 | 2018-07-31 | 浙江大学 | A kind of four-way remote operating bilateral control method based on delay compensation |
| CN108445758A (en) * | 2018-03-13 | 2018-08-24 | 江南大学 | One kind has the H of the Linear Parameter-Varying Systems of network random time-dependent time delay∞Control method |
| CN108519739A (en) * | 2018-04-20 | 2018-09-11 | 电子科技大学 | Based on the multi-time Delay remote control system stability control method to power and position prediction |
| CN108803344A (en) * | 2018-07-25 | 2018-11-13 | 西北工业大学 | A kind of symmetrical forecast Control Algorithm of robot bilateral teleoperation based on Mode-switch |
| CN109901396A (en) * | 2019-03-22 | 2019-06-18 | 清华大学深圳研究生院 | A kind of improvement wave variables method in bilateral teleoperation system |
| CN110850741A (en) * | 2019-11-22 | 2020-02-28 | 北京邮电大学 | Time domain passive bilateral teleoperation control method based on wave variables |
| CN111571594A (en) * | 2020-05-26 | 2020-08-25 | 南通大学 | Method for improving transparency and stability of teleoperation robot |
| CN113031651A (en) * | 2021-03-12 | 2021-06-25 | 南京工程学院 | Bilateral teleoperation control system and method of UAV hanging system based on value function approximation |
| CN113448243A (en) * | 2020-05-21 | 2021-09-28 | 南京农业大学 | Vehicle teleoperation time delay control method based on timestamp |
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Cited By (17)
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| CN107577147A (en) * | 2017-09-08 | 2018-01-12 | 北京邮电大学 | A kind of bilateral PID control method of remote operating based on self-adapting Smith predictor |
| CN107991879B (en) * | 2017-12-21 | 2019-11-08 | 浙江大学 | A kind of remote operating bilateral control method for improving wave variables |
| CN107991879A (en) * | 2017-12-21 | 2018-05-04 | 浙江大学 | A kind of remote operating bilateral control method for improving wave variables |
| CN108340369A (en) * | 2018-01-17 | 2018-07-31 | 浙江大学 | A kind of four-way remote operating bilateral control method based on delay compensation |
| CN108340369B (en) * | 2018-01-17 | 2020-03-17 | 浙江大学 | Four-channel teleoperation bilateral control method based on time delay compensation |
| CN108303880A (en) * | 2018-01-18 | 2018-07-20 | 西北工业大学 | A kind of teleoperation of robot forecast Control Algorithm based on delay compensation |
| CN108303880B (en) * | 2018-01-18 | 2020-11-06 | 西北工业大学 | Robot teleoperation prediction control method based on time delay compensation |
| CN108445758A (en) * | 2018-03-13 | 2018-08-24 | 江南大学 | One kind has the H of the Linear Parameter-Varying Systems of network random time-dependent time delay∞Control method |
| CN108445758B (en) * | 2018-03-13 | 2020-01-07 | 江南大学 | H-infinity control method of linear parameter variation system with network random time-varying delay |
| CN108519739A (en) * | 2018-04-20 | 2018-09-11 | 电子科技大学 | Based on the multi-time Delay remote control system stability control method to power and position prediction |
| CN108519739B (en) * | 2018-04-20 | 2020-12-01 | 电子科技大学 | Stability control method of multi-time-delay teleoperation system based on opposite force and position prediction |
| CN108803344A (en) * | 2018-07-25 | 2018-11-13 | 西北工业大学 | A kind of symmetrical forecast Control Algorithm of robot bilateral teleoperation based on Mode-switch |
| CN109901396A (en) * | 2019-03-22 | 2019-06-18 | 清华大学深圳研究生院 | A kind of improvement wave variables method in bilateral teleoperation system |
| CN110850741A (en) * | 2019-11-22 | 2020-02-28 | 北京邮电大学 | Time domain passive bilateral teleoperation control method based on wave variables |
| CN113448243A (en) * | 2020-05-21 | 2021-09-28 | 南京农业大学 | Vehicle teleoperation time delay control method based on timestamp |
| CN111571594A (en) * | 2020-05-26 | 2020-08-25 | 南通大学 | Method for improving transparency and stability of teleoperation robot |
| CN113031651A (en) * | 2021-03-12 | 2021-06-25 | 南京工程学院 | Bilateral teleoperation control system and method of UAV hanging system based on value function approximation |
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